Rigid Body breaking links of chain
From Blender 2.91, there is now a &quot;compound parent&quot; shape option dedicated to this kind of shape (with concavities):

You can find its description from the release page here.
And in the documentation:

Compound Parent
Takes the collision shapes from the object’s children and combines
them.
This makes it possible to create concave shapes from primitive shapes.
This usually results in a faster simulation than the Mesh collision
shape while also being generally more stable.

The file below is the demo from David Vogel (all credits to him):